CN112526981A - Unmanned vehicle hand-held display and control terminal based on SOC system - Google Patents
Unmanned vehicle hand-held display and control terminal based on SOC system Download PDFInfo
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- 238000007726 management method Methods 0.000 claims abstract description 28
- 238000006243 chemical reaction Methods 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims description 29
- 238000000034 method Methods 0.000 claims description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 claims 1
- 239000004973 liquid crystal related substance Substances 0.000 abstract 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0016—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the operator's input device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0038—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
Abstract
The invention discloses an unmanned vehicle handheld display and control terminal based on an SOC (system on chip), which comprises a display touch unit, a main processing board, a control panel and a power supply module, wherein the display touch unit comprises a display component and a touch component, the display component comprises an LCD (liquid crystal display) and a backlight control board connected with the LCD, the touch component comprises a capacitive touch screen and a touch screen control board, the main processing board comprises a CPU (central processing unit) module, an Ethernet circuit module, an RS232 level conversion module, a USB (universal serial bus) interface module, a voice module and a video conversion module, the voice module is connected with an external headset through an audio interface, the CPU module is connected with an external radio station through the Ethernet circuit module, and a rocker, a key, a knob switch and an indicator light of the control panel. The invention integrates the video decoding display, voice recognition, remote control driving, map path planning, autonomous driving and power management functions into a whole, has comprehensive functions, particularly H.265 video decoding, voice recognition and autonomous driving functions, and meets the real-time and intelligent requirements of a handheld display terminal.
Description
Technical Field
The invention relates to an unmanned vehicle handheld display and control terminal based on an SOC (system on chip), belonging to the technical field of display and control equipment.
Background
With the rapid development of the unmanned control technology, unmanned vehicles and unmanned vehicle control equipment are primarily developed and applied in ground weaponry. The operator sends out instructions to control the unmanned vehicle through components such as keys, knobs and rocking bars on the control equipment. The traditional unmanned vehicle control terminal is composed of a plurality of functional devices, is poor in portability and maneuverability, and light-weight design is realized by more and more handheld devices, but the functions are relatively single, and the functions of real-time image display, vehicle remote control, map path planning, voice recognition and the like required by current equipment development cannot be simultaneously achieved.
Disclosure of Invention
The invention aims to solve the defects of the prior art, and provides an unmanned vehicle handheld display and control terminal based on an SOC system aiming at the problems of large volume, single function and the like of the traditional handheld terminal.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an unmanned vehicle hand-held display and control terminal based on an SOC system,
comprises a display touch unit, a main processing board, a control panel and a power supply module, wherein the display touch unit comprises a display component and a touch component, the main processing board is respectively connected with the display touch unit, the control panel and the power supply module,
the display component comprises an LCD display and a backlight control panel connected with the LCD display, the touch component comprises a capacitive touch screen and a touch screen control panel,
the main processing board comprises a CPU module, an Ethernet circuit module, an RS232 level conversion module, a USB interface module, a voice module and a video conversion module, wherein the voice module is connected with an external headset through an audio interface, the CPU module is connected with an external radio station through the Ethernet circuit module,
the control panel rocker, button, knob switch, pilot lamp.
Preferably, the CPU module comprises real-time video decoding display control, voice recognition control, remote control driving control, path planning and autonomous driving control, and battery power supply management control,
the real-time video decoding display control: the video signal of the camera of the unmanned vehicle enters the CPU module of the main processing board through the Ethernet circuit module, is converted into an HDMI video signal through the decoding and encoding processing of the CPU module, the local signal generated by QT drawing software is superposed with the signal of the external camera, then is converted into an LVDS signal through the video conversion chip, the LVDS video signal enters the LCD display for picture display, and the multi-path camera signals on the unmanned vehicle can be switched and displayed through the control panel,
the speech recognition function: the voice command is input through the external headset, the voice module completes the establishment of a voice and text database, the feature extraction and the acoustic model, the Ethernet communication format data is obtained by decoding and converting an algorithm of the voice command, the data is sent to the unmanned vehicle through the radio station to realize the command control of the unmanned vehicle,
the remote control driving function is as follows: under the remote control driving state, the unmanned vehicle is controlled by voice, a rocker, a knob switch, a key and a capacitive touch screen on a control panel, a CPU module processes control information and transmits the control information to the unmanned vehicle through a radio station,
path planning and autonomous driving control: calibrating and connecting driving path points, storing path data, loading the stored global path on a map, configuring parameters on an unmanned platform maneuvering parameter configuration page, realizing autonomous driving of the unmanned vehicle according to the planned path and parameters,
the battery power supply management control comprises: the battery management board of the power supply module is provided with battery charging and discharging management, a system battery or a self-contained lithium battery is selected to supply power through the control panel, the battery management board performs voltage conversion to generate a working power supply of each component, and the CPU module is connected with the battery management board through the RS232 interface to monitor the electric quantity of the battery in real time.
Preferably, the display component receives and displays the state parameters of the unmanned vehicle through the Ethernet bus, and the state parameters of the unmanned vehicle comprise speed, parking state, charge capacity, power battery current, generating current of a generator set, course, pitch, roll, oil quantity, battery fault information and communication equipment signals.
The invention has the following beneficial effects:
1. the video decoding display, the voice recognition, the remote control driving, the map path planning, the autonomous driving and the power management function are integrated into a whole, the functions are comprehensive, particularly the H.265 video decoding, the voice recognition and the autonomous driving functions are realized, and the real-time and intelligent requirements of a handheld display terminal are met.
2. Possess touch control and panel control, the nature controlled is more excellent, satisfies the switching of multi-view video and drives control demand that cooperatees, controls more smoothly high-efficient, comparatively convenient.
3. The integration degree is very high, and the communication is smooth high-efficient, portable.
Drawings
FIG. 1 is a schematic diagram of a system principle framework of an unmanned vehicle handheld display and control terminal based on an SOC system.
FIG. 2 is a schematic frame diagram of a main processing board in the unmanned vehicle handheld display and control terminal based on the SOC system.
Fig. 3 is a frame diagram of real-time video decoding display control in the unmanned vehicle handheld display control terminal based on the SOC system.
Fig. 4 is a communication framework structure diagram of the unmanned vehicle handheld display control terminal based on the SOC system.
Detailed Description
The invention provides an unmanned vehicle handheld display and control terminal based on an SOC system. The technical solution of the present invention is described in detail below with reference to the accompanying drawings so that it can be more easily understood and appreciated.
The invention provides a handheld display and control terminal of an unmanned vehicle, which comprises a display touch unit, a main processing board, a control panel and a power supply module, wherein the display touch unit is composed of a display assembly and a touch assembly, the main processing board is composed of a display assembly and a touch assembly, and the power supply module is composed of a battery and a battery management board. The main processing board mainly completes operation of an operating system, generation of local graphic pictures, LCD display driving and backlight control, H.265 video decoding, audio signal decoding, voice instruction conversion, acquisition and control of rocker and key signals, management and control of a power supply module, communication control of a touch screen module and Ethernet bus management.
The display assembly comprises an LCD display and a backlight control panel, the backlight control panel is in control connection with the LCD display, the touch assembly comprises a capacitive touch screen and a touch screen control panel, the touch screen control panel is in control connection with the capacitive touch screen, and the main processing panel comprises a CPU module, an Ethernet circuit module, an RS232 level conversion module, a USB interface module, a voice module and a video conversion module. The control panel comprises a rocker, a key, a knob switch and an indicator light; the voice module is connected with the external headset through an audio interface; the LCD display is respectively connected with the video conversion module and the backlight control panel; the CPU module is connected with an external radio station through an Ethernet interface. The touch screen is a capacitive touch screen which has corresponding UI interfaces for different functions. The battery management board is used for managing charging and discharging of the battery, and high-capacity low-temperature batteries are selected to meet the requirements of low-temperature use environment and endurance; a finger control type operating lever is selected, so that the operation is convenient, the size is small, and the weight is light; a high-resolution, high-contrast and wide-temperature working display is selected, so that the image display effect is improved, and the low-temperature working environment is adapted; the rocker, the key and the knob on the control panel can quickly complete video map switching, and the unmanned vehicle can drive, select gears and control menus.
The LCD display screen with 8 inches, 1280 pixels and 720 pixels is adopted, the image is clear, and the LCD display screen has a protective frame, the working temperature is-43 ℃ to +55 ℃, and the stability of the LCD display screen in severe environment when the LCD display screen is used is met.
As shown in fig. 1, the schematic block diagram is shown, in which the display touch unit is mainly used for touch control of different UI interfaces, and the control panel has two control levers and a plurality of shortcut switches, so as to switch the UI interfaces of the display touch unit and meet the requirements of unmanned vehicle operation control and shortcut control keys, and the shortcut control keys are push buttons and have hardware stability.
As shown in fig. 2, it is a schematic block diagram of a main processing board, which adopts a Hi3559A minimum system, and meets the requirements of communication stability and low delay, and ensures stable and smooth communication.
As shown in fig. 3, the display and control software is a built-in display and control software, and includes an image display system initialization module, an internal communication processing module in internal communication with the communication control software, a user management image processing module, a vehicle management image processing module, a log management image processing module, a platform control image processing module, a platform image processing module, a chassis data display and control processing module, and a host computer data display and control processing module.
The picture display system initialization module comprises QT picture display environment initialization, font initialization and sub-interface initialization, and the internal communication processing module comprises a chassis control data sending module, an autonomous control data sending module, a system state control data sending module and a key data receiving module, a network data receiving module and a communication control state data receiving module.
The platform control picture processing module comprises chassis enabling, chariot setting, power-on control, video switching, power control, gear setting, operation mode and light control.
The platform control picture processing module comprises map dragging, map zooming, map measuring, map plotting, waypoints and real-time navigation.
Therefore, various display and control requirements of the display terminal are met.
As shown in fig. 4, the communication control module specifically includes a system initialization module, a key acquisition module, a joystick processing module, a battery panel communication processing module, a picture display output control module, an internal communication processing module with picture display software, a network communication processing module with external devices, a video decoding display module, and an audio coding and decoding interaction processing module.
The system initialization module comprises multimedia integrated control hardware initialization, display output hardware initialization, video decoding hardware initialization, audio coding and decoding hardware initialization, serial port initialization, network initialization and universal input/output port initialization.
The key acquisition module comprises self-reset key acquisition processing, self-locking key acquisition processing and 4-gear waveband switch acquisition processing, and the operating lever processing module comprises acceleration and deceleration control lever data processing and direction control lever data processing.
The internal communication processing module sends key data, network data and communication control state data, and receives chassis control data, autonomous control data and system state control data.
The network communication processing module comprises chassis computer communication processing, autonomous computer communication processing, audio and video processing board communication processing and radio station communication processing.
The following is a working principle for realizing each function of the unmanned vehicle hand-held display control terminal:
the system comprises a real-time video decoding display function, a touch screen function, a remote control driving function, a path planning and autonomous driving function and a battery power supply management function.
The real-time video decoding and displaying function is as follows: the video signal of the camera of the unmanned vehicle enters the CPU module of the main processing board through the Ethernet, is converted into an HDMI video signal through the decoding and encoding processing of the CPU module, a local signal generated by QT mapping software is superposed with an external camera signal, then is converted into an LVDS signal through the video conversion chip, the LVDS video signal enters the LCD display screen for picture display, and the multi-path camera signals on the unmanned vehicle can be switched and displayed through the video switching button on the control panel.
A voice recognition function: the voice command is input through the microphone, the voice module completes voice and text database establishment, feature extraction and acoustic model establishment, the voice command is decoded and subjected to algorithm conversion to obtain Ethernet communication format data, and then the Ethernet communication format data is sent to the unmanned vehicle through the radio station, so that command control of the unmanned vehicle is achieved.
Remote control driving function: under the remote control driving state, an operator can control the unmanned vehicle through voice, a rocker, a knob, a key and a touch screen button on the control panel. The unmanned vehicle is remotely controlled to drive by an operator according to real-time video signals of the unmanned vehicle, position information on a map and state parameter information of the unmanned vehicle, a rocker, a knob, a key, touch screen information and voice instructions are communicated with a CPU module through an external interface of a main processing board, the CPU module processes the instruction information and transmits the instruction information to the unmanned vehicle through a radio station, and the unmanned vehicle reacts. And after the display control terminal is electrified, the unmanned vehicle state parameters are received and displayed through the Ethernet bus, and the unmanned vehicle state parameters comprise speed, parking state, charge capacity, power battery current, generating current of a generator set, course, pitching, side tilting, oil quantity, battery fault information, communication equipment signal strength and the like.
Path planning and autonomous driving functions: an operator marks and connects driving path points on a map, then path data are stored, a stored global path is loaded on the map, an autonomous driving button is clicked, parameter configuration is carried out on a maneuvering parameter configuration page of the unmanned platform, and then the unmanned vehicle can realize autonomous driving according to the planned path and parameters.
Battery power management function: the battery management board possesses battery charge and discharge management function, and handheld terminal can be selected through battery switch to be supplied power by system's battery or from taking the lithium cell, carries out voltage conversion through the battery management board and then generates the required working power supply of main processing board and other functional modules, and handheld terminal CPU module passes through the RS232 interface and links to each other with the battery management board, can real-time supervision battery power.
In order to improve the endurance time of the whole system, a battery switch button is added, when the electric quantity of a portable end battery is not less than the warning capacity, the portable end battery supplies power, when the battery capacity is consumed to the warning capacity, the battery switch is disconnected, the external battery supplies power, when the portable end battery is in a working state, the portable end battery is not charged temporarily through the switch selection, and when the system is in a non-working state, the battery switch is turned on again to charge the portable end battery through the external power supply.
Through the above description, the unmanned vehicle hand-held display and control terminal based on the SOC system integrates the video decoding display, the voice recognition, the remote control driving, the map path planning, the autonomous driving and the power management functions into a whole, has comprehensive functions, particularly H.265 video decoding, voice recognition and autonomous driving functions, and meets the real-time and intelligent requirements of the hand-held display terminal. Possess touch control and panel control, the nature controlled is more excellent, satisfies the switching of multi-view video and drives control demand that cooperatees, controls more smoothly high-efficient, comparatively convenient. The integration degree is very high, and the communication is smooth high-efficient, portable.
The technical solutions of the present invention are fully described above, it should be noted that the specific embodiments of the present invention are not limited by the above description, and all technical solutions formed by equivalent or equivalent changes in structure, method, or function according to the spirit of the present invention by those skilled in the art are within the scope of the present invention.
Claims (3)
1. Handheld display and control terminal of unmanned car based on SOC system, its characterized in that:
comprises a display touch unit, a main processing board, a control panel and a power supply module, wherein the display touch unit comprises a display component and a touch component, the main processing board is respectively connected with the display touch unit, the control panel and the power supply module,
the display component comprises an LCD display and a backlight control panel connected with the LCD display, the touch component comprises a capacitive touch screen and a touch screen control panel,
the main processing board comprises a CPU module, an Ethernet circuit module, an RS232 level conversion module, a USB interface module, a voice module and a video conversion module, wherein the voice module is connected with an external headset through an audio interface, the CPU module is connected with an external radio station through the Ethernet circuit module,
the control panel rocker, button, knob switch, pilot lamp.
2. The SOC system-based unmanned aerial vehicle handheld display and control terminal of claim 1, wherein:
the CPU module comprises a real-time video decoding display control unit, a voice recognition control unit, a remote control driving control unit, a path planning and autonomous driving control unit, and a battery power supply management control unit,
the real-time video decoding display control: the video signal of the camera of the unmanned vehicle enters the CPU module of the main processing board through the Ethernet circuit module, is converted into an HDMI video signal through the decoding and encoding processing of the CPU module, the local signal generated by QT drawing software is superposed with the signal of the external camera, then is converted into an LVDS signal through the video conversion chip, the LVDS video signal enters the LCD display for picture display, and the multi-path camera signals on the unmanned vehicle can be switched and displayed through the control panel,
the speech recognition function: the voice command is input through the external headset, the voice module completes the establishment of a voice and text database, the feature extraction and the acoustic model, the Ethernet communication format data is obtained by decoding and converting an algorithm of the voice command, the data is sent to the unmanned vehicle through the radio station to realize the command control of the unmanned vehicle,
the remote control driving function is as follows: under the remote control driving state, the unmanned vehicle is controlled by voice, a rocker, a knob switch, a key and a capacitive touch screen on a control panel, a CPU module processes control information and transmits the control information to the unmanned vehicle through a radio station,
path planning and autonomous driving control: calibrating and connecting driving path points, storing path data, loading the stored global path on a map, configuring parameters on an unmanned platform maneuvering parameter configuration page, realizing autonomous driving of the unmanned vehicle according to the planned path and parameters,
the battery power supply management control comprises: the battery management board of the power supply module is provided with battery charging and discharging management, a system battery or a self-contained lithium battery is selected to supply power through the control panel, the battery management board performs voltage conversion to generate a working power supply of each component, and the CPU module is connected with the battery management board through the RS232 interface to monitor the electric quantity of the battery in real time.
3. The SOC system-based unmanned aerial vehicle handheld display and control terminal of claim 2, wherein:
the display component receives and displays the state parameters of the unmanned vehicle through the Ethernet bus, wherein the state parameters of the unmanned vehicle comprise speed, parking state, charge capacity, power battery current, generating current of a generator set, course, pitching, side tilting, oil mass, battery fault information and communication equipment signals.
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| CN113093795A (en) * | 2021-03-30 | 2021-07-09 | 华南理工大学 | Semi-automatic wireless control method and device for unmanned surface vehicle |
| CN113741241A (en) * | 2021-08-04 | 2021-12-03 | 徐州维尔德科技发展有限公司 | Engineering machine tool remote control equipment |
| CN114326361A (en) * | 2021-12-22 | 2022-04-12 | 歌尔科技有限公司 | Intelligent watch |
| CN115993841A (en) * | 2023-03-21 | 2023-04-21 | 中国电子科技集团公司第二十八研究所 | Video enhancement display method for unmanned platform remote control |
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Application publication date: 20210319 |